Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ArduPlane: avoid nullptr dereference on bad rcmap value entry

This commit is contained in:
Peter Barker 2024-09-08 00:05:57 +10:00 committed by Peter Barker
parent 9cbb494092
commit c99fc688e1
1 changed files with 6 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduPlane/radio.cpp
View File

@ -8,16 +8,17 @@
*/ */
void Plane::set_control_channels(void) void Plane::set_control_channels(void)
{ {
// the library gaurantees that these are non-nullptr:
if (g.rudder_only) { if (g.rudder_only) {
// in rudder only mode the roll and rudder channels are the // in rudder only mode the roll and rudder channels are the
// same. // same.
channel_roll = RC_Channels::rc_channel(rcmap.yaw()-1); channel_roll = &rc().get_yaw_channel();
} else { } else {
channel_roll = RC_Channels::rc_channel(rcmap.roll()-1); channel_roll = &rc().get_roll_channel();
} }
channel_pitch = RC_Channels::rc_channel(rcmap.pitch()-1); channel_pitch = &rc().get_pitch_channel();
channel_throttle = RC_Channels::rc_channel(rcmap.throttle()-1); channel_throttle = &rc().get_throttle_channel();
channel_rudder = RC_Channels::rc_channel(rcmap.yaw()-1); channel_rudder = &rc().get_yaw_channel();
// set rc channel ranges // set rc channel ranges
channel_roll->set_angle(SERVO_MAX); channel_roll->set_angle(SERVO_MAX);